GroundBasedPeopleDetectionApp performs people detection on RGB-D data having as input the ground plane coefficients. More...

#include <pcl/people/ground_based_people_detection_app.h>

Collaboration diagram for pcl::people::GroundBasedPeopleDetectionApp< PointT >:

Public Types
using	PointCloud = pcl::PointCloud< PointT >

using	PointCloudPtr = typename PointCloud::Ptr

using	PointCloudConstPtr = typename PointCloud::ConstPtr

Public Member Functions
	GroundBasedPeopleDetectionApp ()
	Constructor. More...

virtual	~GroundBasedPeopleDetectionApp ()
	Destructor. More...

void	setInputCloud (PointCloudPtr &cloud)
	Set the pointer to the input cloud. More...

void	setGround (Eigen::VectorXf &ground_coeffs)
	Set the ground coefficients. More...

void	setTransformation (const Eigen::Matrix3f &transformation)
	Set the transformation matrix, which is used in order to transform the given point cloud, the ground plane and the intrinsics matrix to the internal coordinate frame. More...

void	setSamplingFactor (int sampling_factor)
	Set sampling factor. More...

void	setVoxelSize (float voxel_size)
	Set voxel size. More...

void	setIntrinsics (Eigen::Matrix3f intrinsics_matrix)
	Set intrinsic parameters of the RGB camera. More...

void	setClassifier (pcl::people::PersonClassifier< pcl::RGB > person_classifier)
	Set SVM-based person classifier. More...

void	setFOV (float min, float max)
	Set the field of view of the point cloud in z direction. More...

void	setSensorPortraitOrientation (bool vertical)
	Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode). More...

void	setHeadCentroid (bool head_centroid)
	Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole body centroid). More...

void	setPersonClusterLimits (float min_height, float max_height, float min_width, float max_width)
	Set minimum and maximum allowed height and width for a person cluster. More...

void	setMinimumDistanceBetweenHeads (float heads_minimum_distance)
	Set minimum distance between persons' heads. More...

void	getPersonClusterLimits (float &min_height, float &max_height, float &min_width, float &max_width)
	Get the minimum and maximum allowed height and width for a person cluster. More...

void	getDimensionLimits (int &min_points, int &max_points)
	Get minimum and maximum allowed number of points for a person cluster. More...

float	getMinimumDistanceBetweenHeads ()
	Get minimum distance between persons' heads. More...

Eigen::VectorXf	getGround ()
	Get floor coefficients. More...

PointCloudPtr	getFilteredCloud ()
	Get the filtered point cloud. More...

PointCloudPtr	getNoGroundCloud ()
	Get pointcloud after voxel grid filtering and ground removal. More...

void	extractRGBFromPointCloud (PointCloudPtr input_cloud, pcl::PointCloud< pcl::RGB >::Ptr &output_cloud)
	Extract RGB information from a point cloud and output the corresponding RGB point cloud. More...

void	swapDimensions (pcl::PointCloud< pcl::RGB >::Ptr &cloud)
	Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation). More...

void	updateMinMaxPoints ()
	Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel size. More...

void	applyTransformationPointCloud ()
	Applies the transformation to the input point cloud. More...

void	applyTransformationGround ()
	Applies the transformation to the ground plane. More...

void	applyTransformationIntrinsics ()
	Applies the transformation to the intrinsics matrix. More...

void	filter ()
	Reduces the input cloud to one point per voxel and limits the field of view. More...

bool	compute (std::vector< pcl::people::PersonCluster< PointT > > &clusters)
	Perform people detection on the input data and return people clusters information. More...

Protected Attributes
int	sampling_factor_
	sampling factor used to downsample the point cloud More...

float	voxel_size_
	voxel size More...

Eigen::VectorXf	ground_coeffs_
	ground plane coefficients More...

bool	ground_coeffs_set_
	flag stating whether the ground coefficients have been set or not More...

Eigen::VectorXf	ground_coeffs_transformed_
	the transformed ground coefficients More...

float	sqrt_ground_coeffs_
	ground plane normalization factor More...

Eigen::Matrix3f	transformation_
	rotation matrix which transforms input point cloud to internal people tracker coordinate frame More...

bool	transformation_set_
	flag stating whether the transformation matrix has been set or not More...

PointCloudPtr	cloud_
	pointer to the input cloud More...

PointCloudPtr	cloud_filtered_
	pointer to the filtered cloud More...

PointCloudPtr	no_ground_cloud_
	pointer to the cloud after voxel grid filtering and ground removal More...

pcl::PointCloud< pcl::RGB >::Ptr	rgb_image_
	pointer to a RGB cloud corresponding to cloud_ More...

float	max_height_
	person clusters maximum height from the ground plane More...

float	min_height_
	person clusters minimum height from the ground plane More...

float	max_width_
	person clusters maximum width, used to estimate how many points maximally represent a person cluster More...

float	min_width_
	person clusters minimum width, used to estimate how many points minimally represent a person cluster More...

float	min_fov_
	the beginning of the field of view in z-direction, should be usually set to zero More...

float	max_fov_
	the end of the field of view in z-direction More...

bool	vertical_
	if true, the sensor is considered to be vertically placed (portrait mode) More...

bool	head_centroid_
	if true, the person centroid is computed as the centroid of the cluster points belonging to the head; if false, the person centroid is computed as the centroid of the whole cluster points (default = true) More...

int	max_points_
	maximum number of points for a person cluster More...

int	min_points_
	minimum number of points for a person cluster More...

float	heads_minimum_distance_
	minimum distance between persons' heads More...

Eigen::Matrix3f	intrinsics_matrix_
	intrinsic parameters matrix of the RGB camera More...

bool	intrinsics_matrix_set_
	flag stating whether the intrinsics matrix has been set or not More...

Eigen::Matrix3f	intrinsics_matrix_transformed_
	the transformed intrinsics matrix More...

pcl::people::PersonClassifier< pcl::RGB >	person_classifier_
	SVM-based person classifier. More...

bool	person_classifier_set_flag_
	flag stating if the classifier has been set or not More...

Detailed Description

template<typename PointT>
class pcl::people::GroundBasedPeopleDetectionApp< PointT >

GroundBasedPeopleDetectionApp performs people detection on RGB-D data having as input the ground plane coefficients.

It implements the people detection algorithm described here: M. Munaro, F. Basso and E. Menegatti, Tracking people within groups with RGB-D data, In Proceedings of the International Conference on Intelligent Robots and Systems (IROS) 2012, Vilamoura (Portugal), 2012.

Author: Matteo Munaro

Definition at line 68 of file ground_based_people_detection_app.h.

Member Typedef Documentation

◆ PointCloud

template<typename PointT >

using pcl::people::GroundBasedPeopleDetectionApp< PointT >::PointCloud = pcl::PointCloud<PointT>

Definition at line 72 of file ground_based_people_detection_app.h.

◆ PointCloudConstPtr

template<typename PointT >

using pcl::people::GroundBasedPeopleDetectionApp< PointT >::PointCloudConstPtr = typename PointCloud::ConstPtr

Definition at line 74 of file ground_based_people_detection_app.h.

◆ PointCloudPtr

template<typename PointT >

using pcl::people::GroundBasedPeopleDetectionApp< PointT >::PointCloudPtr = typename PointCloud::Ptr

Definition at line 73 of file ground_based_people_detection_app.h.

Constructor & Destructor Documentation

◆ GroundBasedPeopleDetectionApp()

template<typename PointT >

pcl::people::GroundBasedPeopleDetectionApp< PointT >::GroundBasedPeopleDetectionApp

Constructor.

Definition at line 50 of file ground_based_people_detection_app.hpp.

◆ ~GroundBasedPeopleDetectionApp()

template<typename PointT >

pcl::people::GroundBasedPeopleDetectionApp< PointT >::~GroundBasedPeopleDetectionApp ( )

virtualdefault

Destructor.

Member Function Documentation

◆ applyTransformationGround()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::applyTransformationGround

Applies the transformation to the ground plane.

Definition at line 271 of file ground_based_people_detection_app.hpp.

◆ applyTransformationIntrinsics()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::applyTransformationIntrinsics

Applies the transformation to the intrinsics matrix.

Definition at line 286 of file ground_based_people_detection_app.hpp.

◆ applyTransformationPointCloud()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::applyTransformationPointCloud

Applies the transformation to the input point cloud.

Definition at line 260 of file ground_based_people_detection_app.hpp.

References pcl::transformPointCloud().

◆ compute()

template<typename PointT >

bool pcl::people::GroundBasedPeopleDetectionApp< PointT >::compute ( std::vector< pcl::people::PersonCluster< PointT > > & clusters )

Perform people detection on the input data and return people clusters information.

Parameters

[out] clusters Vector of PersonCluster.

Returns: true if the compute operation is successful, false otherwise.

Definition at line 311 of file ground_based_people_detection_app.hpp.

References pcl::EuclideanClusterExtraction< PointT >::extract(), pcl::FilterIndices< PointT >::filter(), pcl::SampleConsensusModelPlane< PointT >::optimizeModelCoefficients(), pcl::SampleConsensusModelPlane< PointT >::selectWithinDistance(), pcl::EuclideanClusterExtraction< PointT >::setClusterTolerance(), pcl::people::HeadBasedSubclustering< PointT >::setGround(), pcl::people::HeadBasedSubclustering< PointT >::setHeightLimits(), pcl::PCLBase< PointT >::setIndices(), pcl::people::HeadBasedSubclustering< PointT >::setInitialClusters(), pcl::PCLBase< PointT >::setInputCloud(), pcl::search::KdTree< PointT, Tree >::setInputCloud(), pcl::people::HeadBasedSubclustering< PointT >::setInputCloud(), pcl::EuclideanClusterExtraction< PointT >::setMaxClusterSize(), pcl::EuclideanClusterExtraction< PointT >::setMinClusterSize(), pcl::people::HeadBasedSubclustering< PointT >::setMinimumDistanceBetweenHeads(), pcl::FilterIndices< PointT >::setNegative(), pcl::EuclideanClusterExtraction< PointT >::setSearchMethod(), pcl::people::HeadBasedSubclustering< PointT >::setSensorPortraitOrientation(), and pcl::people::HeadBasedSubclustering< PointT >::subcluster().

◆ extractRGBFromPointCloud()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::extractRGBFromPointCloud	(	PointCloudPtr	input_cloud,
		pcl::PointCloud< pcl::RGB >::Ptr &	output_cloud
	)

Extract RGB information from a point cloud and output the corresponding RGB point cloud.

Parameters

[in]	input_cloud	A pointer to a point cloud containing also RGB information.
[out]	output_cloud	A pointer to a RGB point cloud.

Definition at line 222 of file ground_based_people_detection_app.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

◆ filter()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::filter

Reduces the input cloud to one point per voxel and limits the field of view.

Definition at line 299 of file ground_based_people_detection_app.hpp.

References pcl::Filter< PointT >::filter(), pcl::VoxelGrid< PointT >::setFilterFieldName(), pcl::VoxelGrid< PointT >::setFilterLimits(), pcl::PCLBase< PointT >::setInputCloud(), and pcl::VoxelGrid< PointT >::setLeafSize().

◆ getDimensionLimits()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::getDimensionLimits	(	int &	min_points,
		int &	max_points
	)

Get minimum and maximum allowed number of points for a person cluster.

Parameters

[out]	min_points	Minimum allowed number of points for a person cluster.
[out]	max_points	Maximum allowed number of points for a person cluster.

Definition at line 187 of file ground_based_people_detection_app.hpp.

◆ getFilteredCloud()

template<typename PointT >

pcl::people::GroundBasedPeopleDetectionApp< PointT >::PointCloudPtr pcl::people::GroundBasedPeopleDetectionApp< PointT >::getFilteredCloud

Get the filtered point cloud.

Definition at line 210 of file ground_based_people_detection_app.hpp.

◆ getGround()

template<typename PointT >

Eigen::VectorXf pcl::people::GroundBasedPeopleDetectionApp< PointT >::getGround

Get floor coefficients.

Definition at line 200 of file ground_based_people_detection_app.hpp.

◆ getMinimumDistanceBetweenHeads()

template<typename PointT >

float pcl::people::GroundBasedPeopleDetectionApp< PointT >::getMinimumDistanceBetweenHeads

Get minimum distance between persons' heads.

Definition at line 194 of file ground_based_people_detection_app.hpp.

◆ getNoGroundCloud()

template<typename PointT >

pcl::people::GroundBasedPeopleDetectionApp< PointT >::PointCloudPtr pcl::people::GroundBasedPeopleDetectionApp< PointT >::getNoGroundCloud

Get pointcloud after voxel grid filtering and ground removal.

Definition at line 216 of file ground_based_people_detection_app.hpp.

◆ getPersonClusterLimits()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::getPersonClusterLimits	(	float &	min_height,
		float &	max_height,
		float &	min_width,
		float &	max_width
	)

Get the minimum and maximum allowed height and width for a person cluster.

Parameters

[out]	min_height	Minimum allowed height for a person cluster.
[out]	max_height	Maximum allowed height for a person cluster.
[out]	min_width	Minimum width for a person cluster.
[out]	max_width	Maximum width for a person cluster.

Definition at line 178 of file ground_based_people_detection_app.hpp.

◆ setClassifier()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setClassifier ( pcl::people::PersonClassifier< pcl::RGB > person_classifier )

Set SVM-based person classifier.

Parameters

[in] person_classifier Needed for people detection on RGB data.

Definition at line 129 of file ground_based_people_detection_app.hpp.

◆ setFOV()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setFOV	(	float	min,
		float	max
	)

Set the field of view of the point cloud in z direction.

Parameters

[in]	min	The beginning of the field of view in z-direction, should be usually set to zero.
[in]	max	The end of the field of view in z-direction.

Definition at line 136 of file ground_based_people_detection_app.hpp.

◆ setGround()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setGround ( Eigen::VectorXf & ground_coeffs )

Set the ground coefficients.

Parameters

[in] ground_coeffs Vector containing the four plane coefficients.

Definition at line 99 of file ground_based_people_detection_app.hpp.

◆ setHeadCentroid()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setHeadCentroid ( bool head_centroid )

Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole body centroid).

Parameters

[in] head_centroid Set the location of the person centroid (head or body center) (default = true).

Definition at line 172 of file ground_based_people_detection_app.hpp.

◆ setInputCloud()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setInputCloud ( PointCloudPtr & cloud )

Set the pointer to the input cloud.

Parameters

[in] cloud A pointer to the input cloud.

Definition at line 79 of file ground_based_people_detection_app.hpp.

◆ setIntrinsics()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setIntrinsics ( Eigen::Matrix3f intrinsics_matrix )

Set intrinsic parameters of the RGB camera.

Parameters

[in] intrinsics_matrix RGB camera intrinsic parameters matrix.

Definition at line 121 of file ground_based_people_detection_app.hpp.

◆ setMinimumDistanceBetweenHeads()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setMinimumDistanceBetweenHeads ( float heads_minimum_distance )

Set minimum distance between persons' heads.

Parameters

[in] heads_minimum_distance Minimum allowed distance between persons' heads (default = 0.3).

Definition at line 166 of file ground_based_people_detection_app.hpp.

◆ setPersonClusterLimits()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setPersonClusterLimits	(	float	min_height,
		float	max_height,
		float	min_width,
		float	max_width
	)

Set minimum and maximum allowed height and width for a person cluster.

Parameters

[in]	min_height	Minimum allowed height for a person cluster (default = 1.3).
[in]	max_height	Maximum allowed height for a person cluster (default = 2.3).
[in]	min_width	Minimum width for a person cluster (default = 0.1).
[in]	max_width	Maximum width for a person cluster (default = 8.0).

Definition at line 156 of file ground_based_people_detection_app.hpp.

◆ setSamplingFactor()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setSamplingFactor ( int sampling_factor )

Set sampling factor.

Parameters

[in] sampling_factor Value of the downsampling factor (in each dimension) which is applied to the raw point cloud (default = 1.).

Definition at line 108 of file ground_based_people_detection_app.hpp.

◆ setSensorPortraitOrientation()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setSensorPortraitOrientation ( bool vertical )

Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).

Parameters

[in] vertical Set landscape/portrait camera orientation (default = false).

Definition at line 143 of file ground_based_people_detection_app.hpp.

◆ setTransformation()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setTransformation ( const Eigen::Matrix3f & transformation )

Set the transformation matrix, which is used in order to transform the given point cloud, the ground plane and the intrinsics matrix to the internal coordinate frame.

Parameters

[in] transformation

Definition at line 85 of file ground_based_people_detection_app.hpp.

◆ setVoxelSize()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::setVoxelSize ( float voxel_size )

Set voxel size.

Parameters

[in] voxel_size Value of the voxel dimension (default = 0.06m.).

Definition at line 114 of file ground_based_people_detection_app.hpp.

◆ swapDimensions()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::swapDimensions ( pcl::PointCloud< pcl::RGB >::Ptr & cloud )

Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation).

Parameters

[in,out] cloud A pointer to a RGB point cloud.

Definition at line 243 of file ground_based_people_detection_app.hpp.

References pcl::PointCloud< PointT >::height, pcl::PointCloud< PointT >::points, and pcl::PointCloud< PointT >::width.

◆ updateMinMaxPoints()

template<typename PointT >

void pcl::people::GroundBasedPeopleDetectionApp< PointT >::updateMinMaxPoints

Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel size.

Definition at line 149 of file ground_based_people_detection_app.hpp.

Member Data Documentation

◆ cloud_

template<typename PointT >

PointCloudPtr pcl::people::GroundBasedPeopleDetectionApp< PointT >::cloud_

protected

pointer to the input cloud

Definition at line 308 of file ground_based_people_detection_app.h.

◆ cloud_filtered_

template<typename PointT >

PointCloudPtr pcl::people::GroundBasedPeopleDetectionApp< PointT >::cloud_filtered_

protected

pointer to the filtered cloud

Definition at line 311 of file ground_based_people_detection_app.h.

◆ ground_coeffs_

template<typename PointT >

Eigen::VectorXf pcl::people::GroundBasedPeopleDetectionApp< PointT >::ground_coeffs_

protected

ground plane coefficients

Definition at line 290 of file ground_based_people_detection_app.h.

◆ ground_coeffs_set_

template<typename PointT >

bool pcl::people::GroundBasedPeopleDetectionApp< PointT >::ground_coeffs_set_

protected

flag stating whether the ground coefficients have been set or not

Definition at line 293 of file ground_based_people_detection_app.h.

◆ ground_coeffs_transformed_

template<typename PointT >

Eigen::VectorXf pcl::people::GroundBasedPeopleDetectionApp< PointT >::ground_coeffs_transformed_

protected

the transformed ground coefficients

Definition at line 296 of file ground_based_people_detection_app.h.

◆ head_centroid_

template<typename PointT >

bool pcl::people::GroundBasedPeopleDetectionApp< PointT >::head_centroid_

protected

if true, the person centroid is computed as the centroid of the cluster points belonging to the head;
if false, the person centroid is computed as the centroid of the whole cluster points (default = true)

Definition at line 342 of file ground_based_people_detection_app.h.